多AUV编队分布式仿真系统设计与实现  

Design and Implementation for Multi- AUV Formation Distributed Simulation System

作　　者：翟楠楠 杨惠珍[1] 郝莉莉[1] 赵冬磊 

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》2013年第11期356-360,共5页Computer Simulation

基　　金：西北工业大学基础研究基金(2011JC0242)

摘　　要：为了对多AUV编队系统的体系结构、编队控制策略等进行演示和验证,设计并实现了多AUV编队仿真系统。系统由三个节点组成,模拟了三个AUV组成的编队系统,每个节点由一台工控机和反射内存卡组成;各个节点间通过光纤连接成环形实时网络,并兼顾导演台功能。为了解决节点间复杂信息交互、时钟同步控制等问题,采用Windows+RTX的实时仿真环境。由于实时网络通讯延迟小于700ns,通过节点软件设计可以使编队控制器满足实时解算,可利用分布式结构实现集中式的编队控制系统仿真。仿真结果表明仿真系统的有效性,能够满足多AUV编队优化设计的需要。In order to demonstrate and validate the Multi-AUV system＇s architecture and control strategies, this paper designed and implemented a multi-AUV formation simulation system based on VMIC. The simulation system simulated a formation system consisting of three AUVs. Each node was equipped with an industrial control computer and a reflective memory card and simulates one AUV. Three nodes were connected by optical fiber to form a ring real -time network. The master node played the role of director and AUV1, in order to solve the complex information ex- change between nodes, clock synchronization control problems, such that it was installed in the Windows＋RTX real- time operating system. Since the real-time network communication delay is less than 700ns, we designed a formation controller for each node, such that the distributed architecture was used to achieve the simulation of a centralized for- mation system. The simulation results show the effectiveness of the system and can meet the needs of the muhi-AUV formation simulation.

关 键 词：自主水下航行器 编队系统 反射内存 分布式仿真 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]