基于物联网的多AUV航姿控制器仿真测试  

Multi-AUV system's Attitude Controller Based on Internet of Things

作　　者：杨洪雪[1] 

机构地区：[1]北京电子科技职业学院计算机系,北京100029

出　　处：《计算机测量与控制》2013年第7期1786-1788,共3页Computer Measurement &Control

基　　金：北京市教育委员会基金资助项目(KM201000002003)

摘　　要：在多AUV系统可靠性和稳定性没有得到确切验证之前,进行航姿控制器的实航测试存在风险高、成本大及周期长的缺点;以物联网技术为基础,提出了一种多AUV系统航姿控制器的半实物仿真测试方案;以物联网作为航姿控制器和仿真测试系统的通信交互纽带,以仿真数字信号源产生的信号控制产生航姿控制器的航行速度、方向和轨道,通过传感器和测量工具实时测定航姿控制器的输出结果,进行存储解算,利用缓存累加器计算出多AUV系统的航向和三维空间坐标,计算得出各项参数指标;结果证明,仿真方案测试得出航姿控制器控制多AUV系统的轨迹与实航测试轨迹相对误差为0.391%,航向角绝对误差为0.16°,达到了可信度标准。Before the reliability and stability of multi--AUV system is not exactly verified, the real flight test has the shortcomings of high risk, high cost and long term. A semi--physical simulation test scheme for attitude controller of multi--AUV system on the basis of in- ternet of things technology is proposed. In the system internet of things is processed as the communication interact ties between the attitude controller and the simulation test system. The signals generated by simulation digital source control the attitude controller for the flight rate, direction and track. The outputs measured by sensors and measurement tools are stored and solved. The three--divisional coordinates of the multi--AUV system are calculated by the cache accumulator and indicators of parameter are achieved. The results prove that the outputs of the simulation scheme and those of the real flight test are in low difference, for the reality that the relative error is 0. 391 ~ and the absolute error oa heading angle is 0. 16. The results achieve the credibility standard.

关 键 词：多AUV系统 半实物仿真测试 航姿控制器 物联网 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]