关键词: Adams, Matlab/Simulink, 控制算法, 水下自航行器, 协同仿真, 虚拟样机

Abstract: To solve the problem that the traditional autonomous underwater vehicle (AUV) simulation cannot balance the performance among graphical interface, real-time and dynamics, a virtual prototype technology based AUV simulation method is proposed, in which virtual prototype and control simulation software are used to build the AUV’s model. The building process of physical model for AUV virtual prototype and its control model are given based on analyzing kinematic model and hydrodynamic model of the virtual prototype, and the AUV dynamic location control algorithm used is simulated based on hydrodynamic. The simulation results indicate that the proposed virtual prototype system has the capability of simulative demonstration and performance validation, and can provide an innovative approach for AUV graphic simulation.

Key words: Adams, Autonomous underwater vehicle, Control algorithm, Cooperative simulation, Matlab/Simulink, Virtual prototype