Research On Combination Method Of Collaborative Simulation Model Of Underwater Vehicle

With the continuous development and improvement of its functionality and social status,people have a higher and higher demand of the reliability of automatic underwater vehicle.Because of the intrinsic complexity, it is indeed a tough task to simulate the oceanenvironment. It is necessary to update the sequence of the simulating actions dynamically asthe computational complexity of the model of the underwater vehicle is comparatively high.But the existing underwater vehicle co-simulation systems have not taken the reusability andcomposability of the model into consideration, and most simulation combination methods arelack of the observation and validation of dynamic behavior in combinational process. Thiscauses several problems, such as long developing time of existing underwater vehicleco-simulation system, no realistic way of model description, hard validation of compatibilitybetween different models and difficulty in meeting the accuracy requirement of the dynamicsimulation model simulation.This paper takes research on the framework of co-simulation system, the formalizeddescription method and combinational and validation method of the model aiming atvalidating the behavior combination in the practical application of underwater vehiclesimulation. Firstly, this paper introduces the development process of the simulation platformof the underwater vehicle system and then on the basis of it, introduces the framework of theunderwater vehicle co-simulation system based on the model combination and the reusablesimulation model forms the base stone of the system construction. Secondly, to ensure thecorrectness of model combination based on the behaviors, this paper introduces theformalized description method based on the behaviors of the co-simulation model, accordingto the simulation framework proposed in this paper. And then this paper figures out thetransition of describing the co-simulation model based on the behaviors from non-formally toformally. Thirdly, this paper introduces the Pi calculus theory and then extends the Pi calculusaccording to the timing sequence of the system and the object-oriented concept. At the sametime, it introduces how to use the improved Pi calculus to describe the interaction process ofthe simulation model combinational behavior, and then proposes the underwater vehicleco-simulation model combinational method based on the improved Pi calculus theory. As a result, it finishes the validation of model behavior combination in the simulation. At last, theMobility Workbench (MWB) is used to validate the combinational method proposed in thispaper. And this combinational method is then used to construct the simulation experiment ofthe AUV system. And it proves out that this combinational decision method is effective.