Building Research Of Emulator On Multi-AUV

After 90th 20 century ,Underwater vehicle, which has not been a fresh word ,focused on more and more people's attention. by the requirements of ocean exploitations and military affairs, a new kind of underwater vehicle—unmanned submarine was rapidly developed. It is tremendously difficult to observe the situation of AUVs because they operate in the deep water, so simulation research is in need. Provided with reliable, securable, and economical capability, simulation is a comprehensive technique and does not limited by weather and field. Simulation technique is the most efficient means to shorten research cycle, improve research quality and cut down expense.The motion simulation model based on the six degrees of freedom motion equations of AUV and the restricted model experimentation data is introduced in this thesis. Increase the effect of rudder and wing, and build hydrodynamic model of microminiature. Give the initial program of motion simulation. Building the simulation platform of microminiature on the VC++6.0 environment. Analyse the trial data and draw the simulation curve.Based on the single AUV, I adopted faced to object's technique for C++. Build simulation platform for AUVs of different structures ,which performing corresponding control by using multithreading's technique on intercurrent in-phase. This flow is a process that when one Socket reaches, it excites an intercurrent thread. Each thread produces a new class, supervise one of the AUVs' hydrodynamic calculating and resource of system. The paper made use of multithreading intercurrent technique, and built the intercurrent emulation platform for multi-isomerous AUVs, which carried out the formation-sail emulation for them. The paper grounded the technical basic for effective emulation system of multi-AUVs.