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Design and Implementation of Manned Submersible Semi Physical Simulation System
Xue T(薛涛); Zhao Y(赵洋); Cui SG(崔胜国); Zhang, Yanzhu; Feng GH(冯冠华); Liu KZ(刘开周)
作者部门水下机器人研究室
会议名称2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016)
会议日期December 3-7, 2016
会议地点Qingdao, China
会议录名称Proceedings of the 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016)
出版者IEEE
出版地New York
2016
页码155-160
收录类别EI ; CPCI(ISTP)
EI收录号20171403534996
WOS记录号WOS:000405724600027
产权排序1
ISBN号978-1-5090-4363-7
摘要In order to improve the safety factors of MSV (Manned Submersible Vehicle) and shorten the pilot training cycle, the real hardware and software system combine with the modeling and simulation calculation of its sensors, equipment, actuators submersible ontology and motion status in deep sea environment, realizing the semi physical simulation system. First of all, the system model is built and hardware structure is introduced; then the model calculation software structure is studied, mainly focusing on the motion data simulation; finally open-loop motion data, close-loop motion data, all virtual devices and their network data transmission delay time are estimated. The conclusions that the MSV's semi physical simulation system network performance is better than Jiaolong's and the motion data is favorable are got, realizing the simulation of sensors, equipment, actuators and three-dimensional motion data. This lays foundation for improvement of MSV's safety factors and contraction of pilot training period.
语种英语
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/19688
专题水下机器人研究室
通讯作者Xue T(薛涛)
作者单位1.Automation and Electrical Engineering College of Shenyang Ligong University, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, CO, 110016, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, CO, 110016, China
3.Shenyang Ligong University, Shenyang, CO, 110159, China
4.Mechanical Engineering College, Shenyang Ligong University, CO, 110159, China
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GB/T 7714
Xue T,Zhao Y,Cui SG,et al. Design and Implementation of Manned Submersible Semi Physical Simulation System[C]. New York:IEEE,2016:155-160.
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