基于VRML的浮力驱动式航行器运动原理仿真  

Kinematical Principle Simulation of Buoyancy-propelled Underwater Vehicle Based on VRML

作　　者：范辉[1] 张宇文[1] 杨武钢[1] 李文哲[1] 

机构地区：[1]西北工业大学航海学院,陕西西安710072

出　　处：《计算机仿真》2008年第4期228-231,共4页Computer Simulation

摘　　要：针对传统的水下航行器控制仿真研究以图表曲线方式给出结果,抽象而缺乏直观性的缺点,介绍了虚拟现实三维立体网络程序设计语言VRML的概念、特点和结合MATLAB虚拟现实工具箱进行视景仿真的应用方法。以一种浮力驱动式水下航行器作为仿真对象,分析了它的运动规律,给出了垂直平面内航行器运动学方程,应用VRML语言构建了航行器的虚拟现实三维模型,并在MATLAB环境下驱动模型在虚拟水下场景中进行了运动原理视景仿真。结果表明,所述仿真方法不仅可以校验模型的正确性,而且形象而直观地表现了航行器在水下环境的运动过程。The traditional research on the simulation of vehicle＇s control often uses simulative curves and charts to show the result, it＇s so abstract and empty of intuition. This paper introduced the concept and characteristic of Virtual Reality Modeling Language and presented the operation method of VRML in MATLAB virtual reality toolbox. It employed a kind of buoyancy - propelled underwater vehicle as simulation object, analyzed the kinematical principle of it, made use of VRML to create the virtual scene of the vehicle, and implemented the visual simulation of it in MATLAB environment using virtual reality toolbox. The practice of simulation proves that this method could not only check the accuracy of the model, but also represent the movement process of the vehicle in underwater environment truly and intuitionally.

关 键 词：虚拟现实建模语言 浮力驱动式航行器 虚拟现实 视景仿真 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]