Research On Model Credibility For The Simulation System

Simulation technology is a kind of important means to know the objective world, through overhauling the simulation system of the robot, while setting up water, used for studying a return circuit equipment of nuclear equipment and measuring and maintaining key technology, at the same time , can also apply to explore the nuclear waste material in the marine environment .It has been proved that sufficient correctness and credibility of robot simulation are essential to a successful simulation. How to evaluate the correctness and credibility is an important problem during development of simulation theory and technology for robot simulation all the while.Based on summary of domestic and international relative research, the concept architecture of simulation credibility is constructed in this dissertation. In addition, some problems relative to simulation credibility, which could be encountered in practice frequently, are studied.According to the characteristics of the simulation, the paper divides the system into six parts: hydrodynamic model, actuator model, and forward-looking sonar model, disturbance model of current, visual simulation, time-space consistency and interoperability. The paper applies similar theory and fuzzy synthetically judgment, which is the fundamental methods in the study of credibility, evaluates the credibility of the six parts of system one by one. The other methods such as theoretical and model comparison are introduced.Based on thee similar theory, the paper designs different experiments of the hydrodynamic model in order to gain the numerical value of credibility. In the evaluation for actuator model, referring to the actual curve, the paper amends the old one and gives the credibility of the new model. The estimation of the forward-looking sonar model includes validating the virtual obstacle and simulation of obstacle -detecting . Furthermore, based on experiential formula, the paper studies the model of current and gives the credibility of the model. During the judgment of visual model the fuzzy judgment method of simulation credibility is presented. Through building up the metewand, the result of the judgment is given. Lastly, time-space consistency and interoperability in the system are analyzed.The analysis of credibility proves that the models of the system are rational and credible to some extent, and make a solid base for the test of the control arithmetic.