Study On The Coordinated Simulation System Of Auv Based On Virtual Prototype Technology

The development of underwater vehicle has attracted increasing attention because ocean contains huge mineral resources and occupies an important position in both military and political field. Autonomous underwater vehicle (AUV), as a branch of the underwater vehicles, has so many advantages such as adaptable to environmental conditions, extensive scope of activity, convenient in operation and so on, which makes it to be a hot research field.Virtual prototype technology is a kind of digital designing methods which are based on computer simulation. It is a new computer-aided engineering coupled with the development of computer technology. Virtual prototype technology is a multidisciplinary, mainly based on the kinematics, dynamics and control theory of mechanical system combined with the computer graphics technology GUI (Graphic user interface) technology. The simulation provides the working conditions just mostly like the mechanism working in the real working conditions. And the virtual prototype technology is aimed for obtaining the analysis results through the simulation of Kinematics and dynamics of Mechanical system and pursuing an optimal design through the analysis of the results and the optimization of mechanical system.The main contribution of this dissertation is summarized as following:the three-dimensional solid model is established by the Pro/ENGINEER software while the finite element analysis of some important components of AUV is earried out by the ANSYS software. The virtual prototype of AUV is built based on the ADAMS software combined with Pro/ENGINEER. And the mathematical model of the AUV's motion is set up for the simulation system. The performance of the thruster forces are identified based on the data obtained by the underwater test. In order to establishing the mechanical model of virtual prototype of the AUV, thruster forces, hydrodynamic forces and moments, the effects of ocean current and other external forces are imposed on the AUV. The coordinated simulation system was established based on the ADAMS/Controls combined with MATLAB/Simulink. The performances of classical PID control and adaptive robust control are verified in the coordinated simulation system.The virtual prototype of AUV can offer references for the physical prototype manufacturing. The interactive coordinated simulation system based on the ADAMS combined with MATLAB/Simulink can provide evaluations of the control strategy of AUV. What's more, the control strategy can be optimized through the coordinated simulation system.