Design Based On AUV Simulation System

Land resources are being depleted, which makes the ocean the second space forhuman survival and development. The underwater vehicles must be flexible anddurable, which may provide favorable conditions for the exploration of deep searesources. The underwater vehicles may be divided into two types: Remote OperatedVehicle (ROV) and Autonomous Underwater Vehicle (AUV). ROV must be providedpower through cable by the mother ship for remote control and data transmission;AUV may power itself for travelling and performing their tasks independently. As anew generation of underwater vehicle, compared with ROV, AUV is more suitable forthe survey and exploration of deep sea. And how to control AUV better, has becomethe critical problem in the development process of AUV. Therefore, building matchedsimulation system, is an indispensable step for checking stability, security andaccuracy of AUV control system.This paper makes holistic dynamic analysis on deep-sea AUV with VectoredThrust Ducted Propeller based on engineering mechanics, relevant physical law andso on, including particle analysis and three-dimensional space dynamic analysis,which may provide basis for establishing the AUV semi-physical simulation system.The AUV semi-physical simulation system is designed based on LabVIEW andMatlab under windows platform, and its application programmes are written by usingthe multi-thread philosophy in order to realize the real-time calculation of AUV’sposition, posture and other information; at the same time, it makes serial port andEthernet communication with deck unit, master control unit and motion control unitby imitating Phins, GAPS, altimeter, obstacle avoidance sonar, and other sensors,which realizes AUV motion simulation.Debugging experiments are performed by combining AUV simulation systemwith control system, which are used successfully in measuring experiment of AUVcontrol system. It verifies the design correctness of relevant module and the functionvalidity, and has sway over motion strategies development. Experimentation showsthat the system model is reasonable, and the given software design is feasible, and theestablished simulation system is flexible to be extended or reduced.