全海深载人潜水器控制模拟器  

Controlling simulator for full-ocean-depth manned submersibles

作　　者：杨鸣宇[1,2] 赵洋 陶祎春[1,2] 卢广宇[1,2] 赵兵 YANG Mingyu;ZHAO Yang;TAO Yichun;LU Guangyu;ZHAO Bing(State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110016,China)

机构地区：[1]中国科学院沈阳自动化研究所机器人学国家重点实验室,辽宁沈阳110016 [2]中国科学院机器人与智能制造创新研究院,辽宁沈阳110016

出　　处：《哈尔滨工程大学学报》2024年第11期2075-2083,共9页Journal of Harbin Engineering University

基　　金：国家重点研发计划(2016YFC0300604);国家自然科学基金青年基金项目(52001323).

摘　　要：为了提高载人潜水器联调效率、增强技术扩展的可验证性,实现潜水器故障离线模拟仿真以及潜航员路基训练的目的,本文以“奋斗者号”全海深载人潜水器控制系统为基础,结合虚拟仿真以及计算机图形图像技术,设计并开发了一套全海深载人潜水器控制模拟器。该模拟器可实现潜水器在研制过程中控制系统本体功能验证与同步调试,以安全为基础提高研制效率;在潜水器运维过程中,可实现本体故障模拟复现、故障分析、模拟调试、潜水器下潜过程数据回放、潜航员模拟训练及科普展示等功能,既提高了潜水器联调效率,又能增强潜水器的安全性与可靠性,同时为我国模拟仿真装备的设计、开发与制造提供借鉴。To improve the efficiency of joint commissioning for manned submersibles,enhance the verifiability of technology expansion,and enable offline fault simulation and pilot training,we designed and developed a set of controlling simulators for full-ocean-depth manned submersibles based on the Fendou control system.This simulator integrates virtual simulation technology with computer graphics and imaging technology.It enables verification of the control system′s functions and synchronous debugging during the submersible development,thereby enhancing development efficiency while prioritizing safety.During the operation and maintenance of the submersible,the simulator offers various functions,including body fault simulation reproduction,fault analysis,simulation debugging,data replay of the submersible′s diving process,training simulations for submariners,and educational displays.These features not only enhance the efficiency of submersible joint debugging but also improve the safety and reliability of the submersible.Furthermore,the simulator serves as a valuable reference for the design,development,and manufacturing of simulation equipment in China.

关 键 词：“奋斗者号” 载人潜水器 控制系统 虚拟系统 仿真验证 三维建模 三维视景 虚拟驾驶 

分 类 号：TP273.3[自动化与计算机技术—检测技术与自动化装置]